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EPL-VINS: Efficient Point-Line Fusion Visual-Inertial SLAM With LK-RG Line Tracking Method and 2-DoF Line Optimization.
Duofeng Zeng
Xiaotao Liu
Kangjin Huang
Jing Liu
Published in:
IEEE Robotics Autom. Lett. (2024)
Keyphrases
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optimization algorithm
line detection
vanishing points
fusion method
line features
objective function
line segments
optimization method
segmentation method
kalman filter
optimization problems
particle filter
mean shift
lucas kanade